Dynamics and control of a class of underactuated mechanical systems

Author

Reyhanoglu, Mahmut ; Van der Schaft, Arjan ; McClamroch, N. Harris ; Kolmanovsky, Ilya

Author_Institution

Dept. of Phys. Sci., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA

Volume

44

Issue

9

fYear

1999

fDate

9/1/1999 12:00:00 AM

Firstpage

1663

Lastpage

1671

Abstract

This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable

Keywords

control system synthesis; controllability; nonlinear control systems; stability criteria; control system formulation; controllability; nonintegrable dynamics relations; stabilizability; underactuated mechanical systems; Acceleration; Aerodynamics; Control systems; Controllability; Equations; Force control; Mechanical systems; Nonlinear control systems; Open loop systems; Torque control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.788533

Filename

788533